/*
 * FreeRTOS V202212.00
 * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy of
 * this software and associated documentation files (the "Software"), to deal in
 * the Software without restriction, including without limitation the rights to
 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
 * the Software, and to permit persons to whom the Software is furnished to do so,
 * subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in all
 * copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 *
 * https://www.FreeRTOS.org
 * https://github.com/FreeRTOS
 *
 */

/******************************************************************************
 * NOTE 1:  This project provides two demo applications.  A low power tickless
 * project, and a more comprehensive test and demo application.  The
 * configCREATE_LOW_POWER_DEMO setting in FreeRTOSConfig.h is used to
 * select between the two.  See the notes on using
 * configCREATE_LOW_POWER_DEMO in FreeRTOSConfig.h.  This file implements
 * the comprehensive test and demo version.
 *
 * NOTE 2:  This file only contains the source code that is specific to the
 * full demo.  Generic functions, such FreeRTOS hook functions, and functions
 * required to configure the hardware, are defined in main.c.
 ******************************************************************************
 *
 * main_full() creates all the demo application tasks and a software timer, then
 * starts the scheduler.  The web documentation provides more details of the
 * standard demo application tasks, which provide no particular functionality,
 * but do provide a good example of how to use the FreeRTOS API.
 *
 * In addition to the standard demo tasks, the following tasks and tests are
 * defined and/or created within this file:
 *
 * "Check" timer - The check software timer period is initially set to three
 * seconds.  The callback function associated with the check software timer
 * checks that all the standard demo tasks are not only still executing, but
 * are executing without reporting any errors.  If the check software timer
 * discovers that a task has either stalled, or reported an error, then it
 * changes its own execution period from the initial three seconds, to just
 * 200ms.  The check software timer callback function also toggles an LED each
 * time it is called.  This provides a visual indication of the system status:
 * If the LED toggles every three seconds, then no issues have been discovered.
 * If the LED toggles every 200ms, then an issue has been discovered with at
 * least one task.
 *
 * See the documentation page for this demo on the FreeRTOS.org web site for
 * full information, including hardware setup requirements.
 */

/* Standard includes. */
#include <stdio.h>

/* Kernel includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "timers.h"
#include "semphr.h"

/* Standard demo application includes. */
#include "PollQ.h"
#include "semtest.h"
#include "dynamic.h"
#include "BlockQ.h"
#include "blocktim.h"
#include "countsem.h"
#include "GenQTest.h"
#include "recmutex.h"

/* ST library functions. */
#include "stm32l1xx.h"
#include "discover_board.h"
#include "stm32l_discovery_lcd.h"

/* Priorities for the demo application tasks. */
#define mainQUEUE_POLL_PRIORITY            ( tskIDLE_PRIORITY + 2UL )
#define mainSEM_TEST_PRIORITY              ( tskIDLE_PRIORITY + 1UL )
#define mainBLOCK_Q_PRIORITY               ( tskIDLE_PRIORITY + 2UL )

/* A block time of zero simply means "don't block". */
#define mainDONT_BLOCK                     ( 0UL )

/* The period after which the check timer will expire providing no errors
 * have been reported by any of the standard demo tasks.  ms are converted to the
 * equivalent in ticks using the portTICK_PERIOD_MS constant. */
#define mainCHECK_TIMER_PERIOD_MS          ( 3000UL / portTICK_PERIOD_MS )

/* The period at which the check timer will expire, in ms, if an error has been
 * reported in one of the standard demo tasks.  ms are converted to the equivalent
 * in ticks using the portTICK_PERIOD_MS constant. */
#define mainERROR_CHECK_TIMER_PERIOD_MS    ( 200UL / portTICK_PERIOD_MS )

/*-----------------------------------------------------------*/

/*
 * The check timer callback function, as described at the top of this file.
 */
static void prvCheckTimerCallback( TimerHandle_t xTimer );

/*
 * Configure the LCD, then write welcome message.
 */
static void prvConfigureLCD( void );

/*-----------------------------------------------------------*/

void main_full( void )
{
    TimerHandle_t xCheckTimer = NULL;

    /* The LCD is only used in the Full demo. */
    prvConfigureLCD();

    /* Start all the other standard demo/test tasks.  They have no particular
     * functionality, but do demonstrate how to use the FreeRTOS API and test the
     * kernel port. */
    vStartDynamicPriorityTasks();
    vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
    vCreateBlockTimeTasks();
    vStartCountingSemaphoreTasks();
    vStartGenericQueueTasks( tskIDLE_PRIORITY );
    vStartRecursiveMutexTasks();
    vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
    vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );

    /* Create the software timer that performs the 'check' functionality,
     * as described at the top of this file. */
    xCheckTimer = xTimerCreate( "CheckTimer",                  /* A text name, purely to help debugging. */
                                ( mainCHECK_TIMER_PERIOD_MS ), /* The timer period, in this case 3000ms (3s). */
                                pdTRUE,                        /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
                                ( void * ) 0,                  /* The ID is not used, so can be set to anything. */
                                prvCheckTimerCallback          /* The callback function that inspects the status of all the other tasks. */
                                );

    if( xCheckTimer != NULL )
    {
        xTimerStart( xCheckTimer, mainDONT_BLOCK );
    }

    /* Start the scheduler. */
    vTaskStartScheduler();

    /* If all is well, the scheduler will now be running, and the following line
     * will never be reached.  If the following line does execute, then there was
     * insufficient FreeRTOS heap memory available for the idle and/or timer tasks
     * to be created.  See the memory management section on the FreeRTOS web site
     * for more details. */
    for( ; ; )
    {
    }
}
/*-----------------------------------------------------------*/

static void prvCheckTimerCallback( TimerHandle_t xTimer )
{
    static long lChangedTimerPeriodAlready = pdFALSE;
    unsigned long ulErrorFound = pdFALSE;

    /* Check all the demo tasks to ensure they are all still running, and that
     * none have detected an error. */

    if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
    {
        ulErrorFound = pdTRUE;
    }

    if( xAreBlockingQueuesStillRunning() != pdTRUE )
    {
        ulErrorFound = pdTRUE;
    }

    if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
    {
        ulErrorFound = pdTRUE;
    }

    if( xAreGenericQueueTasksStillRunning() != pdTRUE )
    {
        ulErrorFound = pdTRUE;
    }

    if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
    {
        ulErrorFound = pdTRUE;
    }

    if( xArePollingQueuesStillRunning() != pdTRUE )
    {
        ulErrorFound = pdTRUE;
    }

    if( xAreSemaphoreTasksStillRunning() != pdTRUE )
    {
        ulErrorFound = pdTRUE;
    }

    /* Toggle the check LED to give an indication of the system status.  If
     * the LED toggles every mainCHECK_TIMER_PERIOD_MS milliseconds then
     * everything is ok.  A faster toggle indicates an error. */
    GPIO_TOGGLE( LD_GPIO_PORT, LD_GREEN_GPIO_PIN );

    /* Have any errors been latch in ulErrorFound?  If so, shorten the
     * period of the check timer to mainERROR_CHECK_TIMER_PERIOD_MS milliseconds.
     * This will result in an increase in the rate at which mainCHECK_LED
     * toggles. */
    if( ulErrorFound != pdFALSE )
    {
        if( lChangedTimerPeriodAlready == pdFALSE )
        {
            lChangedTimerPeriodAlready = pdTRUE;

            /* This call to xTimerChangePeriod() uses a zero block time.
             * Functions called from inside of a timer callback function must
             * never* attempt	to block. */
            xTimerChangePeriod( xTimer, ( mainERROR_CHECK_TIMER_PERIOD_MS ), mainDONT_BLOCK );
        }
    }
}
/*-----------------------------------------------------------*/

static void prvConfigureLCD( void )
{
    GPIO_InitTypeDef GPIO_InitStructure;

    /* Enable necessary clocks. */
    RCC_AHBPeriphClockCmd( RCC_AHBPeriph_GPIOA | RCC_AHBPeriph_GPIOB | RCC_AHBPeriph_GPIOC, ENABLE );
    RCC_APB1PeriphClockCmd( RCC_APB1Periph_LCD, ENABLE );
    PWR_RTCAccessCmd( ENABLE );
    RCC_LSEConfig( ENABLE );
    RCC_RTCCLKConfig( RCC_RTCCLKSource_LSE );
    RCC_RTCCLKCmd( ENABLE );

    /* Configure Port A LCD Output pins as alternate function. */
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1 | GPIO_Pin_2 | GPIO_Pin_3 | GPIO_Pin_8 | GPIO_Pin_9 | GPIO_Pin_10 | GPIO_Pin_15;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
    GPIO_Init( GPIOA, &GPIO_InitStructure );

    /* Select LCD alternate function for Port A LCD Output pins. */
    GPIO_PinAFConfig( GPIOA, GPIO_PinSource1, GPIO_AF_LCD );
    GPIO_PinAFConfig( GPIOA, GPIO_PinSource2, GPIO_AF_LCD );
    GPIO_PinAFConfig( GPIOA, GPIO_PinSource3, GPIO_AF_LCD );
    GPIO_PinAFConfig( GPIOA, GPIO_PinSource8, GPIO_AF_LCD );
    GPIO_PinAFConfig( GPIOA, GPIO_PinSource9, GPIO_AF_LCD );
    GPIO_PinAFConfig( GPIOA, GPIO_PinSource10, GPIO_AF_LCD );
    GPIO_PinAFConfig( GPIOA, GPIO_PinSource15, GPIO_AF_LCD );

    /* Configure Port B LCD Output pins as alternate function */
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3 | GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_8 | GPIO_Pin_9 | GPIO_Pin_10 | GPIO_Pin_11 | GPIO_Pin_12 | GPIO_Pin_13 | GPIO_Pin_14 | GPIO_Pin_15;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
    GPIO_Init( GPIOB, &GPIO_InitStructure );

    /* Select LCD alternate function for Port B LCD Output pins */
    GPIO_PinAFConfig( GPIOB, GPIO_PinSource3, GPIO_AF_LCD );
    GPIO_PinAFConfig( GPIOB, GPIO_PinSource4, GPIO_AF_LCD );
    GPIO_PinAFConfig( GPIOB, GPIO_PinSource5, GPIO_AF_LCD );
    GPIO_PinAFConfig( GPIOB, GPIO_PinSource8, GPIO_AF_LCD );
    GPIO_PinAFConfig( GPIOB, GPIO_PinSource9, GPIO_AF_LCD );
    GPIO_PinAFConfig( GPIOB, GPIO_PinSource10, GPIO_AF_LCD );
    GPIO_PinAFConfig( GPIOB, GPIO_PinSource11, GPIO_AF_LCD );
    GPIO_PinAFConfig( GPIOB, GPIO_PinSource12, GPIO_AF_LCD );
    GPIO_PinAFConfig( GPIOB, GPIO_PinSource13, GPIO_AF_LCD );
    GPIO_PinAFConfig( GPIOB, GPIO_PinSource14, GPIO_AF_LCD );
    GPIO_PinAFConfig( GPIOB, GPIO_PinSource15, GPIO_AF_LCD );

    /* Configure Port C LCD Output pins as alternate function */
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_2 | GPIO_Pin_3 | GPIO_Pin_6 | GPIO_Pin_7 | GPIO_Pin_8 | GPIO_Pin_9 | GPIO_Pin_10 | GPIO_Pin_11;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
    GPIO_Init( GPIOC, &GPIO_InitStructure );

    /* Select LCD alternate function for Port B LCD Output pins */
    GPIO_PinAFConfig( GPIOC, GPIO_PinSource0, GPIO_AF_LCD );
    GPIO_PinAFConfig( GPIOC, GPIO_PinSource1, GPIO_AF_LCD );
    GPIO_PinAFConfig( GPIOC, GPIO_PinSource2, GPIO_AF_LCD );
    GPIO_PinAFConfig( GPIOC, GPIO_PinSource3, GPIO_AF_LCD );
    GPIO_PinAFConfig( GPIOC, GPIO_PinSource6, GPIO_AF_LCD );
    GPIO_PinAFConfig( GPIOC, GPIO_PinSource7, GPIO_AF_LCD );
    GPIO_PinAFConfig( GPIOC, GPIO_PinSource8, GPIO_AF_LCD );
    GPIO_PinAFConfig( GPIOC, GPIO_PinSource9, GPIO_AF_LCD );
    GPIO_PinAFConfig( GPIOC, GPIO_PinSource10, GPIO_AF_LCD );
    GPIO_PinAFConfig( GPIOC, GPIO_PinSource11, GPIO_AF_LCD );

    LCD_GLASS_Init();
    LCD_GLASS_DisplayString( "F'RTOS" );
}
